Use DataWriter Qos to configure max_blocking_time on rmw_send_response (

#704)

Signed-off-by: Miguel Company <[email protected]>

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp

@@ -138,9 +138,11 @@ class ServicePubListener : public eprosima::fastdds::dds::DataWriterListener
     return cv_.wait_for(lock, rel_time, guid_is_present);
   }
 
+  template<class Rep, class Period>
   client_present_t
   check_for_subscription(
-    const eprosima::fastrtps::rtps::GUID_t & guid)
+    const eprosima::fastrtps::rtps::GUID_t & guid,
+    const std::chrono::duration<Rep, Period> & max_blocking_time)
   {
     {
       std::lock_guard<std::mutex> lock(mutex_);
@@ -151,7 +153,7 @@ class ServicePubListener : public eprosima::fastdds::dds::DataWriterListener
       }
     }
     // Wait for subscription
-    if (!wait_for_subscription(guid, std::chrono::milliseconds(100))) {
+    if (!wait_for_subscription(guid, max_blocking_time)) {
       return client_present_t::MAYBE;
     }
     return client_present_t::YES;

rmw_fastrtps_shared_cpp/src/rmw_response.cpp

@@ -142,7 +142,12 @@ __rmw_send_response(
     // Related guid is a reader, so it is the response subscription guid.
     // Wait for the response writer to be matched with it.
     auto listener = info->pub_listener_;
-    client_present_t ret = listener->check_for_subscription(related_guid);
+    auto writer_max_blocking_time =
+      info->response_writer_->get_qos().reliability().max_blocking_time;
+    auto max_blocking_time =
+      std::chrono::seconds(writer_max_blocking_time.seconds) +
+      std::chrono::nanoseconds(writer_max_blocking_time.nanosec);
+    client_present_t ret = listener->check_for_subscription(related_guid, max_blocking_time);
     if (ret == client_present_t::GONE) {
       return RMW_RET_OK;
     } else if (ret == client_present_t::MAYBE) {